For robots to be able coexist with people in future everyday human environments, they must be able to act in a safe, natural and comfortable way. This work addresses the motion of a mobile robot in an environment, where humans potentially want to interact with it. The designed system consists of three main components: a Kalman filter‐ based algorithm that derives a personʹs state information (position, velocity and orientation) relative to the robot; another algorithm that uses a Case‐Based Reasoning approach to estimate if a person wants to interact with the robot; and, finally, a navigation system that uses a potential field to derive motion that respects the personʹs social zones and perceived interest in interaction. ; For robots to be able coexist with people in future everyday human environments, they must be able to act in a safe, natural and comfortable way. This work addresses the motion of a mobile robot in an environment, where humans potentially want to interact with it. The designed system consists of three main components: a Kalman filter‐ based algorithm that derives a personʹs state information (position, velocity and orientation) relative to the robot; another algorithm that uses a Case‐Based Reasoning approach to estimate if a person wants to interact with the robot; and, finally, a navigation system that uses a potential field to derive motion that respects the personʹs social zones and perceived interest in interaction. The operation of the system is evaluated in a controlled scenario in an open hall environment. It is demonstrated that the robot is able to learn to estimate if a person wishes to interact, and that the system is capable of adapting to changing behaviours of the humans in the environment.
Adaptive Human-Aware Robot Navigation in Close Proximity to Humans
2011-06-01
Svenstrup , M , Hansen , S T , Andersen , H J & Bak , T 2011 , ' Adaptive Human-Aware Robot Navigation in Close Proximity to Humans ' , International Journal of Advanced Robotic Systems , vol. 8 , no. 2 , pp. 1-15 . < http://www.intechopen.com/journals/howtoreference/international_journal_of_advanced_robotic_systems/adaptive_human_aware_robot_navigation_in_close_proximity_to_humans >
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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